Trajectory Optimization for the Nonholonomic Space Rover in Cluttered Environments Using Safe Convex Corridors
Yiqun Li,
Shaoqiang Liang,
Jiahui Gao,
Zong Chen,
Siyuan Qiao,
Zhouping Yin
Affiliations
Yiqun Li
State Kay Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Shaoqiang Liang
State Kay Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Jiahui Gao
State Kay Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Zong Chen
State Kay Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Siyuan Qiao
State Kay Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Zhouping Yin
State Kay Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
Due to the limitation of space rover onboard computing resources and energy, there is an urgent need for high-quality drive trajectories in complex environments, which can be provided by delicately designed motion optimization methods. The nonconvexity of the collision avoidance constraints poses a significant challenge to the optimization-based motion planning of nonholonomic vehicles, especially in unstructured cluttered environments. In this paper, a novel obstacle decomposition approach, which swiftly decomposes nonconvex obstacles into their constituent convex substructures while concurrently minimizing the proliferation of resultant subobstacles, is proposed. A safe convex corridor construction method is introduced to formulate the collision avoidance constraints. The numerical approximation methods are applied to transfer the resulting continuous motion optimization problem to a nonlinear programming problem (NLP). Simulation experiments are conducted to illustrate the feasibility and superiority of the proposed methods over the rectangle safe corridor method and the area method.
